CN106153059B - The method of view-based access control model mark docking charging unit - Google Patents
The method of view-based access control model mark docking charging unit Download PDFInfo
- Publication number
- CN106153059B CN106153059B CN201610515715.XA CN201610515715A CN106153059B CN 106153059 B CN106153059 B CN 106153059B CN 201610515715 A CN201610515715 A CN 201610515715A CN 106153059 B CN106153059 B CN 106153059B
- Authority
- CN
- China
- Prior art keywords
- charging unit
- robot
- visual cues
- charging
- interface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
Disclose a kind of method of view-based access control model mark docking charging unit.Method includes the following steps: step 1, shoots visual cues corresponding with charging unit；Step 2, the angle and distance between robot charging interface and the visual cues is obtained；Step 3, the angle and distance between robot charging interface and charging unit is determined；Step 4, path and the speed of charging unit are reached according to the angle and distance planning robot between robot charging interface and charging unit, driving robot is according to the path of planning and speed close to charging unit；And step 5, when the angle and distance of robot charging interface and charging unit is respectively smaller than predetermined angular and preset distance, the power interface of driving robot charging interface docking charging unit.This method passes through the visual cues image corresponding with charging unit of processing screened, docks to realize robot charging interface with the accurate of the power interface of charging unit.
Description
Technical field
The present invention relates to intelligent robot automatic charging fields, fill more particularly, to a kind of mark docking of view-based access control model
The method of electric installation.
Background technique
With the arrival of intellectualization times, robot increasingly comes into people's lives, the service-delivery machine in life
People's application field is more and more wider, our society will enter the epoch of intelligent robot.For example, common service robot has
Meal delivery robot, chat robots, shopping guide robot etc..These intelligent robots usually all include a large amount of electrical equipment.
For example, hoofing part part, interactive display, various places 10 manage circuit, audio and video apparatus etc..The power consumption of intelligent robot
It is very big, it needs often to charge.Intelligent robot is all labor management charging at present, such as non-working time, staff plug
Power supply is unified to charge.Or in use process when electricity is low, staff is its charging that plugs in, and can not realize intelligent machine
Device people's automatic charging, reduces the ease of use of user.Therefore, robot automatic charging how to be allowed to become robot field one
A urgent problem to be solved.
The information for being disclosed in background of invention part is merely intended to deepen the reason to the general background technique of the disclosure
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Summary of the invention
The invention proposes a kind of method that view-based access control model identifies docking charging unit, by processing screened with fill
The corresponding visual cues image of electric installation, to realize the accurate right of the power interface of robot charging interface and charging unit
It connects.
According to an aspect of the invention, it is proposed that a kind of method of view-based access control model mark docking charging unit.This method can
With the following steps are included:
Step 1, visual cues corresponding with charging unit are shot；
Step 2, the vision calibration parameter based on camera and captured visual cues image obtain robot charging
Angle and distance between mouth and the visual cues；
Step 3, according in step 2 between angle and distance calculated and the visual cues and charging unit
Positional relationship determines the angle and distance between robot charging interface and charging unit；
Step 4, charging is reached according to the angle and distance planning robot between robot charging interface and charging unit
The path of device and speed, driving robot is according to the path of planning and speed close to charging unit；And
Step 5, when the angle and distance of robot charging interface and charging unit is respectively smaller than predetermined angular and pre- spacing
From when, driving robot charging interface docking charging unit power interface.
Charging unit phase has accurately been determined the present invention is based on the visual cues image corresponding with charging unit of set bat
For the position of robot charging device, enable robot charging interface and charging unit power interface Dock With Precision Position, from
And the automatic charging of intelligent robot is realized, improve the ease of use of intelligent robot.
Method of the invention has other characteristics and advantages, these characteristics and advantages from the attached drawing being incorporated herein and with
Will be apparent in specific embodiment afterwards, or by the attached drawing and subsequent specific embodiment being incorporated herein into
Row statement, these the drawings and specific embodiments in detail are used together to explain specific principle of the invention.
Detailed description of the invention
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical reference label is usual
Represent same parts.
Fig. 1 shows the flow chart of the method for view-based access control model mark docking charging unit according to the present invention.
Fig. 2 a and Fig. 2 b show the sides that view-based access control model according to an embodiment of the invention identifies docking charging unit
Exemplary Visual mark in method.
Specific embodiment
The present invention will be described in more detail below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that may be realized in various forms the present invention and should not be limited by the embodiments set forth herein.On the contrary, providing
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
Embodiment 1
Fig. 1 shows the process of the method for view-based access control model mark docking charging unit according to an embodiment of the invention
Figure.
In this embodiment, the method for view-based access control model mark docking charging unit according to the present invention may include following step
It is rapid:
Step 1, visual cues corresponding with charging unit are shot；
Step 2, the vision calibration parameter based on camera and captured visual cues image obtain robot charging
Angle and distance between mouth and the visual cues；
Step 3, according in step 2 between angle and distance calculated and the visual cues and charging unit
Positional relationship determines the angle and distance between robot charging interface and charging unit；
Step 4, charging is reached according to the angle and distance planning robot between robot charging interface and charging unit
The path of device and speed, driving robot is according to the path of planning and speed close to charging unit；And
Step 5, when the angle and distance of robot charging interface and charging unit is respectively smaller than predetermined angular and pre- spacing
From when, driving robot charging interface docking charging unit power interface.
The present embodiment passes through the visual cues image corresponding with charging unit of processing screened, to realize robot
Charging interface is docked with the accurate of the power interface of charging unit.
The specific steps of the method for docking charging unit are identified the following detailed description of view-based access control model according to the present invention.
In general, intelligent robot is able to know that oneself coordinate points indoors, progress independently effectively recharges coron:
Accurately after positioning, robot can be leaned in the case where not enough power supply or completion task are come back towards the direction of charging unit
Closely.For example, intelligent robot itself has Position Fixing Navigation System, the position of charge power supply is marked in advance in electronic map,
When intelligent robot needs to charge, charge power supply position is voluntarily found by Position Fixing Navigation System first.But due to positioning
Precision is usually more than ten to tens centimetres, and the requirement for being automatically aligned to charging unit is not achieved.It realizes robot charging interface and fills
The power interface automatic butt of electric installation needs positioning accuracy to reach 3cm precision below, utilizes Position Fixing Navigation System, intelligent machine
Device people can only reach near charge power supply position.
In order to enable intelligent robot charging interface can accurately dock the power interface of charging unit, side of the invention
The visual cues image of method processing screened is to determine the angle and distance between robot charging interface and charging unit.
In one example, visual cues can be the square gridiron pattern of black and white, and outmost turns grid is black square
Ring, and the black and white grid that black square ring surrounds is formed by pattern neither axial symmetry nor symmetrically, such as Fig. 2 a and
Shown in Fig. 2 b.
The ID of the available visual cues of pattern is formed by based on the black and white grid that black square ring surrounds.Work as machine
Device people has identified the ID from captured image, then confirmation has taken visual cues, into calculating robot's charging
The process of angle and distance between mouth and visual cues.If can not identify ID in captured image, then it is assumed that this
Shooting is invalid, and captured image is given up.
In one example, vision calibration parameter may include the inner parameter, external parameter and distortion parameter of camera.
It is alternatively possible to obtain the vision calibration parameter of camera using following steps: one template of printing is simultaneously affixed on one
In a plane；Several template images are shot from different perspectives；Detect the characteristic point in image；Find out the inside ginseng of video camera
Several and external parameter；And find out distortion parameter.It will be appreciated by those skilled in the art that can be obtained using any suitable method
Obtain the vision calibration parameter of camera.
In one example, step 2 may include: inner parameter, external parameter and distortion parameter based on camera, root
The distortion calculating robot charging interface generated according to four side of boundary of black square ring in captured visual cues image and institute
The angle between visual cues is stated, according between visual cues described in the length computation on four side of boundary and robot charging interface
Distance.
Circular is as follows: the square-shaped image boundary as captured by the camera of robot is convex quadrangle,
There is the torque and error of identification in the square boundary of the convex quadrangle and script.Therefore, convex quadrangle is subjected to boundary first
Again the fitting on four sides, and the quadrangle vertex for being formed by four straight line intersections to fitting saves；It will be convex after fitting
Quadrangle carries out getting a bird's eye view projection on corresponding homography matrix；And by the functional based method in the library opencv by quadrangle top
Point (matrix that projection obtains) with it is known square carry out homography matrix compared with (refer to opencv document < http: //
Docs.opencv.org/2.4/doc/tutorials/tutorials.html >), to obtain visual cues and robot
The valuation of angle and distance between charging interface.
Optionally, the size of above-mentioned visual cues can be 7*7 lattice.It will be appreciated by those skilled in the art that visual cues
Size can be any suitable lattice number.
The ID of visual cues captured by identifying from captured image when robot, then can determine the vision mark
Position and its positional relationship between charging unit where knowing.It is charged based on the calculated visual cues of institute and robot
The positional relationship between angle and distance and the visual cues and charging unit between interface, then can determine that robot fills
Angle and distance between electrical interface and charging unit.
In the method for the invention, during intelligent robot docking charging interface, for precision and security consideration, draw
The state of a control machine for having entered the various virtual conditions of adaptation allows robot to make the emergency and tune for adapting to a variety of abnormalities
It is whole.For example, state of a control machine can incite somebody to action when robot charging interface plane is not parallel with the power interface plane of charging unit
Robot is adjusted to the state that charging interface plane is parallel to the power interface plane of charging unit.
In one example, in step 4 robot according to the path of planning and speed close to charging unit during, can
Step 2- step 4 is repeated with the frequency for shooting visual cues according to camera, makes robot based on the view shot every time
Feel and identifies the path updated and speed close to charging unit.
During robot advances according to the path of planning, robot is more and more closer apart from charging unit, captured
Visual cues image be more clear, the angle and distance between charging unit and robot calculated is also more accurate.Cause
This, robot is with more and more accurate path close to charging unit.
Optionally, the predetermined angular between robot charging interface and charging unit is no more than 0.05rad, preset distance
For no more than 8mm.I.e. when the angle between robot charging interface and charging unit is less than or equal to 0.05rad, and it
Between distance be less than or equal to 8mm when, driving robot charging interface docking charging unit power interface.
In one example, after the power interface of step 5 robot charging interface docking charging unit, it can be determined that be
It is no to power on success, it drives robot to reach adjustment position if not powering on successfully, repeats step 2- step 5.
Optionally, adjustment position is the determination position at charging unit 5cm.
Embodiment 2
According to another embodiment of the invention, a kind of method of view-based access control model mark docking charging unit is provided.It should
Method may comprise steps of:
Step 1, corresponding with charging unit visual cues are shot, the vision calibration parameter based on camera with clapped
The visual cues image taken the photograph obtains the angle and distance between robot charging interface and the visual cues；
Step 2, according to the position in step 1 between angle and distance calculated and the visual cues and charging unit
The relationship of setting determines the angle and distance between robot charging interface and charging unit；
Step 3, another visual cues corresponding with charging unit, vision calibration parameter and institute based on camera are shot
Another visual cues image of shooting, obtain angle between robot charging interface and another visual cues and away from
From；
Step 4, according to angle and distance calculated in step 3 and another visual cues and charging unit it
Between positional relationship determine the angle and distance between robot charging interface and charging unit；
Step 5, it is respectively smaller than when angle and distance identified in step 4 with the angle and distance determined in step 2 pre-
Determine error angle and predictive error apart from when, the angle and distance of robot charging interface and charging unit is identified as walking
The average value of identified angle and distance in rapid 4 neutralization procedure 2, otherwise, it determines for identified angle in step 2 and away from
From giving up the calculated result of step 4；
Step 6, path and the speed of charging unit are reached according to identified angle and distance planning robot in steps of 5
Degree, driving robot is according to the path of planning and speed close to charging unit；And
Step 7, when the angle and distance of robot charging interface and charging unit is respectively smaller than predetermined angular and pre- spacing
From when, driving robot charging interface docking charging unit power interface.
The present embodiment passes through two visual cues corresponding with charging unit of processing screened, to realize robot
Charging interface is docked with the accurate of the power interface of charging unit.
It will be appreciated by those skilled in the art that can be by handling corresponding with charging unit multiple visual cues come into one
Step improves the accuracy of the angle and distance between identified robot charging interface and charging unit.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The beneficial effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or improvement to the technology in market for best explaining each embodiment, or make the art
Other those of ordinary skill can understand each embodiment disclosed herein.
Claims (6)
1. a kind of method of view-based access control model mark docking charging unit, the described method comprises the following steps:
Step 1, visual cues corresponding with charging unit are shot；
Step 2, the vision calibration parameter based on camera and captured visual cues image, obtain robot charging interface with
Angle and distance between the visual cues；
Step 3, according to the position in step 2 between angle and distance calculated and the visual cues and charging unit
Relationship determines the angle and distance between robot charging interface and charging unit；
Step 4, charging unit is reached according to the angle and distance planning robot between robot charging interface and charging unit
Path and speed, driving robot is according to the path of planning and speed close to charging unit；And
Step 5, when the angle and distance of robot charging interface and charging unit is respectively smaller than predetermined angular and preset distance,
Drive the power interface of robot charging interface docking charging unit；
Wherein, the visual cues are the square gridiron pattern of black and white, and outmost turns grid is black square ring, and black side
The black and white grid that shape ring surrounds is formed by pattern neither axial symmetry nor symmetrically；The vision calibration parameter includes taking the photograph
As the inner parameter, external parameter and distortion parameter of head；
Step 2 includes: inner parameter, external parameter and distortion parameter based on camera, according to captured visual cues figure
Angle as between four side of boundary of the black square ring distortion calculating robot's charging interface generated and the visual cues,
According to the distance between visual cues described in the length computation on four side of boundary and robot charging interface.
2. the method for view-based access control model according to claim 1 mark docking charging unit, wherein the visual cues it is big
Small is 7*7 lattice.
3. the method for view-based access control model mark docking charging unit according to claim 1, wherein in step 4 robot root
According to the path and speed of planning close to during charging unit, step is repeated according to the frequency that camera shoots visual cues
Rapid 2- step 4, the path for making robot to update based on the visual cues shot every time and speed are close to charging unit.
4. the method for view-based access control model according to claim 1 mark docking charging unit, wherein robot charging interface with
Predetermined angular between charging unit is no more than 0.05rad, and preset distance is no more than 8mm.
5. the method for view-based access control model mark docking charging unit according to claim 1, wherein filled in step 5 robot
After electrical interface docks the power interface of charging unit, judges whether to power on success, drive robot if not powering on successfully
Adjustment position is reached, step 2- step 5 is repeated.
6. the method for view-based access control model according to claim 5 mark docking charging unit, wherein the adjustment position for away from
At charging unit 5cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610515715.XA CN106153059B (en) | 2016-07-01 | 2016-07-01 | The method of view-based access control model mark docking charging unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610515715.XA CN106153059B (en) | 2016-07-01 | 2016-07-01 | The method of view-based access control model mark docking charging unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106153059A CN106153059A (en) | 2016-11-23 |
| CN106153059B true CN106153059B (en) | 2019-05-31 |
Family
ID=58061022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610515715.XA Active CN106153059B (en) | 2016-07-01 | 2016-07-01 | The method of view-based access control model mark docking charging unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106153059B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647747B (en) * | 2016-11-30 | 2019-08-23 | 北京儒博科技有限公司 | A kind of robot charging method and device |
| CN113110416B (en) * | 2016-12-15 | 2023-11-07 | 苏州宝时得电动工具有限公司 | Operation method of self-mobile device, memory and server |
| CN106647775B (en) * | 2017-02-14 | 2019-08-16 | 中智科创机器人有限公司 | A kind of positioning device and method of robot wireless charging |
| CN107392962A (en) * | 2017-08-14 | 2017-11-24 | 深圳市思维树科技有限公司 | A kind of robot charging docking system and method based on pattern identification |
| CN107745648A (en) * | 2017-10-19 | 2018-03-02 | 环球车享汽车租赁有限公司 | Charging inlet identifies and localization method and system |
| CN107728621A (en) * | 2017-10-19 | 2018-02-23 | 环球车享汽车租赁有限公司 | Charging inlet identifies and localization method and system |
| CN107825423A (en) * | 2017-10-19 | 2018-03-23 | 环球车享汽车租赁有限公司 | Charging inlet identifies and localization method and system |
| CN109510266B (en) * | 2018-11-30 | 2024-02-06 | 广东银狐医疗科技股份有限公司 | Electric wheelchair charging device and charging system |
| CN112405518B (en) * | 2019-08-23 | 2022-08-23 | 深圳拓邦股份有限公司 | Robot control method, robot and automatic backtracking system of robot |
| CN111476166B (en) * | 2020-04-08 | 2023-04-07 | 深圳市千乘机器人有限公司 | Self-service charging alignment method for ground inspection robot |
| CN111930129A (en) * | 2020-09-24 | 2020-11-13 | 天津联汇智造科技有限公司 | Mobile robot docking deviation rectifying method and system and storage medium |
| CN113110419A (en) * | 2021-03-22 | 2021-07-13 | 深圳拓邦股份有限公司 | Method and device for robot secondary docking charging pile, robot and storage medium |
| CN113189981A (en) * | 2021-04-08 | 2021-07-30 | 深圳拓邦股份有限公司 | Charger robot transit point identification method and device and charger robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6459782B1 (en) * | 1999-11-10 | 2002-10-01 | Goldstar Information Technologies, Llc | System and method of developing mapping and directions from caller ID |
| AU767561B2 (en) * | 2001-04-18 | 2003-11-13 | Samsung Kwangju Electronics Co., Ltd. | Robot cleaner, system employing the same and method for reconnecting to external recharging device |
| KR102095817B1 (en) * | 2013-10-31 | 2020-04-01 | 엘지전자 주식회사 | Mobile robot, charging apparatus for the mobile robot, and mobile robot system |
| CN105629971A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot automatic charging system and control method therefor |
| CN105242670B (en) * | 2015-10-26 | 2019-01-22 | 深圳拓邦股份有限公司 | Robot, system and corresponding method with auto-returned charge function |
-
2016
- 2016-07-01 CN CN201610515715.XA patent/CN106153059B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106153059A (en) | 2016-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106153059B (en) | The method of view-based access control model mark docking charging unit | |
| CN105739501B (en) | A kind of method of intelligent robot automatic charging | |
| US9895131B2 (en) | Method and system of scanner automation for X-ray tube with 3D camera | |
| CN112258567B (en) | Visual positioning method and device for object grabbing point, storage medium and electronic equipment | |
| US11335456B2 (en) | Sensing device for medical facilities | |
| KR101984339B1 (en) | Automated identification of shoe parts | |
| WO2018195955A1 (en) | Aircraft-based facility detection method and control device | |
| WO2017092565A1 (en) | Charging system and charging method, computer storage medium | |
| CN106991654A (en) | Human body beautification method and apparatus and electronic installation based on depth | |
| US20190206135A1 (en) | Information processing device, information processing system, and non-transitory computer-readable storage medium for storing program | |
| JP2019083001A (en) | System and method for efficiently collecting machine learning training data using augmented reality | |
| EP3257026B1 (en) | Generating three dimensional models | |
| JP2008235504A (en) | Assembly inspection device | |
| CN104871176A (en) | Scanning device and method for positioning a scanning device | |
| WO2020024684A1 (en) | Method and device for modeling three-dimensional scene, electronic device, readable storage medium, and computer apparatus | |
| US20100053416A1 (en) | Auto depth field capturing system and method thereof | |
| CN110756462B (en) | Power adapter test method, device, system, control device and storage medium | |
| WO2021065265A1 (en) | Size estimation device, size estimation method, and recording medium | |
| CN108259764A (en) | Video camera, image processing method and device applied to video camera | |
| CN117124302A (en) | Part sorting method and device, electronic equipment and storage medium | |
| CN110412993A (en) | The method and mobile robot of recharging | |
| KR20210070690A (en) | Robotic systems and a returning method of robot for automatic charging | |
| JP2019188467A (en) | Recording device, welding support device, recording method and program | |
| US11551379B2 (en) | Learning template representation libraries | |
| CN109040592A (en) | The method and apparatus for controlling shooting angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 201, building 4, yard 8, Dongbeiwang West Road, Haidian District, Beijing 100094 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |